ATO MG-1000 Series Instruction manual

ConnectionandDebuggingManual
forAll-digitalACServoDriver

Table of Contents
Important Safety Information....................................................................................................................................I
Chapter I Installation...................................................................................................................................1
Outline Dimensions of the Servo Driver ............................................................................................................. 1
Installation Dimensions for the Servo Driver ........................................................................................................3
Installation Site.......................................................................................................................................................4
Direction and Space of Installation.......................................................................................................................6
Chapter II Overview of Functions......................................................................................................................... 7
Basic Functions of MG -1000 Series of Servos.............................................................................................. 7
Type Selection of the Servo Driver....................................................................................................................8
Chapter III Wiring ....................................................................................................................................11
Noti ces.....................................................................................................................................................................11
Wiring Requirements.................................................................................................................................11
Wiring Methods........................................................................................................................................11
Typical Wiring .........................................................................................................................................13
Position Control (pulse type) ...........................................................................................................................13
Speed Control (analog value).................................................................................................................14
Torque Control (analog value)................................................................................................................15
Wiring Diagram for Wire Saving Motor Encoder...................................................................................................16
Wiring Diagram for the Band-type Brake of the Servo Motor ......................................................................16
Chapter IV Interfaces................................................................................................................................. 18
Definitions of Servo Control Power Supply and Heavy Current Terminal
..................................................18
Definitions of CN1 Interface and Control Signal Input/output ...................................................................19
Definitions of CN2 interface and Encoder Input Signal................................................................................27
Principleofthe Input Interfacefor Switching Value..........................................................................................................29
Principle of the Output Interface for Switching Value...............................................… ................................. 30
Principle of the Input Interface for Pulse Value .............................................................................................. 32
Input Mode of Pulse................................................................................................................................32
Principe of the input interface of Analog Value..............................................................................................32
Principe of Encoder Interface.............................................................................................................................34
CN1 Output Interface for Encoder Signal (from the driver to the upper computer).....................................................34
CN2 Input Interface for EncoderSignal (fromtheservo motor tothedriver) .........................................................35
CN1 Output Interface for Z signal of the Encoder (from driver outputto zeroing bythe upper computer) ...35
Chapter V Display and Operation...............................................................................................................38
Operation Panel........................................................................................................................................38
Components of Parameter Structure ....................................................................................................................39
Status Monitoring Mode (DP - -)....................................................................................................................40
Parameter Modification Mode (PA--) ...............................................................................................................43
Parameter Management Mode (EE--)......................................................................................................43
JOG Operational Mode (Jr- -) ......................................................................................................................43
Speed Trial Run Mode (Sr- -).......................................................................................................................44
Automatic Zeroing Mode of Analog Value (AU- -)........................................................................................44
Automatic Zeroing Mode of Encoder (CO- -) ...............................................................................................44
Open Loop Operation Mode (OL--)...............................................................................................................46

Chapter VI Parameters..............................................................................................................................47
List of Parameters [PA Mode].........................................................................................................................47
Detailed Explanation ofParameters ......................................................................................................................48
Chapter VII Failures and Diagnosis..................................................................................................................58
List of Alarms .........................................................................................................................................58
Troubleshooting........................................................................................................................................... 58
Chapter VIII Debugging and Application...........................................................................................................63
Notices to Quick Debugging..................................................................................................................63
PositionControl(Quick adjustment of parameters after power on).........................................................................64
Speed Control (Quick adjustment of parameters after power on).......................................................................64
Torque Control (Quick adjustment of parameters after power on)..................................................................65
Dynamic Electronic Application..............................................................................................................66
Debugging of Typical Problems..........................................................................................................................67

III. roduct and Equipment Safety
● T h i s produ ct i s a h i gh-vo lta g e h ea vy c urr e n t produ ct . In c orr ect c onn ecti on ma y lea d t o d ama g e t o t h e
produ ct .
●P E te r mi n al m us t b e c onn ecte d t o a ground w i r e a nd ma k e sur e t h at t h e ground w i r e i s r elia b l y
ground
e d.
●A
C 220V pow e r supp l y i s su ita b le for t h i s produ ct . Do no t c onn ect a n A C 380V on e t o t h e s e rvo
dr
i v e r.
● T h e U, V a nd W of t h e produ ct shou l d b e c onn ecte d w it h t h e m o t or. T h e y a r e ou t pu t s. Do no t c onn ect
t
h em w it h i npu t pow e r supp l y.
●Do no t c onn ect t h e t hr ee -ph a s e ou t pu t s U, V a nd W of t h e produ ct i n a n i n c orr ect s e qu e n ce; b eca us
e
i n c orr ect c onn ecti on ma y lea d t o m o t or r aci ng, d ama g e t o e qu i p me n t , a nd ov e r c urr e n t d ama g e t o t h
e
produ ct .
● Ti gh te n all te r mi n al s. T h e mate r ial s of all matc h i ng w i r e s shou l d b e s t r ictl y s electe d acc ord i ng
t o pow e r.
●Pow
e r d i s t r i bu ti on a nd t ou c h i ng of t h e te r mi n al s a r e no t all ow e d wh e n t h e dr i v e r i s elect r i f ie d.
●Do no
t t ou c h t h e te r mi n al s w it h i n f i v e (5) mi nu te s a f te r pow e r down.
●I t i s no t all ow e d t o t ou c h t h e m o t or a nd ca b le s wh e n t h e m o t or i s i n op e r ati on i n ord e r t o a vo i d
acci d e n tal i n j ur ie s su c h a s s cal d i ng a nd wr e n c h, etc .
II. ite Safety
● T h i s produ ct i s a h i gh-vo lta g e h ea vy c urr e n t produ ct . I t i s no t all ow e d t o elect r i fy a nd us e t h e
produ ct wh e r e t h e r e a r e c o m bus ti b le or c orros i v e g a s e s ; o t h e rw i s e f i r e a nd e xp l os i on ma y b e ca us e d.
●I
t i s no t all ow e d t o elect r i fy a nd us e t h e produ ct wh e r e c o m bus ti b le or c orros i v e a r ticle s drop ;
o t h e rw i s e f i r e a nd e xp l os i on ma y b e ca us e d.
●I
t i s no t all ow e d t o us e t h e produ ct i n t h e p lace s w it h h i gh hu mi d it y, m o i s t ur e a nd metal powd e r ;
o t h e rw i s e d a ng e rous acci d e n t s su c h a s elect r ic sho c k, etc . ma y b e ca us e d.
I. Personnel Safety
●
T h i s produ ct i s a h i gh-vo lta g e h ea vy c urr e n t produ ct . M a k e sur e t h at p e rson al a r e w it h i n t h e
s a f et y a r ea of m ov i ng mec h a n i s m s.
●I m prop e r op e r ati on ma y ca us e acci d e n t s su c h a s elect r ic a r c burn or elect r ic sho c k, etc .
●I
t i s no t all ow e d t o op e r ate , w i r e a nd elect r i fy t h e produ ct w it hou t fo ll ow i ng t h i s ma nu al .
Important Safety Information
I

Remarks
It is hereby declared that :
● 2A/3A/5A/ shown in the manual or nameplate are the abbreviations for 20A/30A/50A.
II

1.1 Outline Dimensions of the Servo Driver
Figure1.1 Outline DimensionalDrawings
for the Servo Driver of 30A/30A
Chapt er I Insta ll at i on
1

1.11OutlineDimensionsof the ServoDriver
Figure1.2 Outline DimensionalDrawings
for the Servo Driver of 50A/75A
2

1.2 InstallationDimensions for the Servo Driver
Figure1.11InstallationDimensions
for the Servo Driver of 30A/30A
3

1.21 Installation Dimensions for the Servo Driver
Figure1.21InstallationDimensions
for the Servo Driver of 50A/75A
4

InstallationSite
I. To make sure that the servo driver works normally, it is necessary to ensure that the temperature
around the driver is below 50°C and that the relative humidity is below 90%. The long-term safe
workingtemperature should bebelow 40°C.
II. The servo driver is subject to failures when used in a severe environment with corrosive gases,
high humidity, metal powder, water or processing liquids. Therefore, the working environment
should be fully takenintoconsiderationduringthe use and installation.
III. The vibration acceleration of the equipment which is directly or indirectly connected with the
servo driver should be below 0.5G (4.9m/S2) or less in order to ensure long-term stable operation
of the servodriver.
IV. The servo driver could be disturbed when it is disturbing other facilities at the same time, so
attention must be paid to the wiring of heavy current and weak current during the installation of a
electric cabinet or complete equipment. The servo driver is unable to work normally and also
probably led to produce malfunction due to strong external disturbing signals or the serious effect
on the power cord of the servo driver and control signal. At the same time control equipment such
as a upper computer, etc. also cannot work stably under the disturbance of the servo driver due to
poor wiring. Pay attention to install a sound magnetic ring, a wave filter and an isolation
transformer, etc. at the source of the disturbance and in the places which are disturbed. Pay special
attention that the wire of control signal is subject to disturbance; therefore reasonable wiring and
shieldingmeasures should be taken.
5

DirectionandSpaceofInstallation
I. Payattention to the direction of installation (See Figure 1.3).
II. Payattention to the spacing ofinstallation (See Figure 1.3).
III. Four (4) M5 bolts can fix the servo driver with a spring washer added.
IV. The servo must be installed in a relatively closed space, with ventilation maintained in the
electric cabinet and a filter screen installed at the vent to prevent the entry of dust. Clear the filter
screen periodically to prevent air flow from being blocked.
Figure1.3DirectionofInstallation
Servo Diver
Servo Diver
Servo Diver
Upward
ventilation
Upward
ventilation
6

Basic Funct ions of MG-1000 Seriesof Servos
Type MG-1000(20A/30A/50A/75A)
Control power supply and main
circuitpowersupply
Single phase or three phaseAC 220V
Voltage fluctuation:-15-+10%,50/60Hz
Environment
Temperature Workingtemperature: 0-550C
Storage temperature:-400C-800C
Humidity Nomorethan 90%(without condensation)
Air index No dust (conductive media such as metal powder, etc.) in the electric
cabinet
Controlmode
1. Positioncontrol 2. Speedcontrol
3. Torquecontrol 4. JOGoperation
5. Four Internal speed control 6.Internalpositioncontrol
7.Internal torquecontrol 8.Position & speed control
9.Speed & torquecontrol
ExternalI/O
1. Servoenable 2.Reset
3. Position deviation reset
4. Pulse, CCW, and CWdisabled.
5. Positionswitching
6. Speed selection
7. Zero speed clamping
8. The secondreset
9. Extended functions (options) such as orientation and permissiblestop,
etc.
Encoderfeedback 10000p/r(standard);frequencydivisionpermissible(options)
Communicationmode 1. RS232(closed)
2. RS485 (closed)
Load inertia 5 times smaller than that of the motor
Monitoring function Speed, currentposition,command pulseaccumulation,positiondeviation,
motor current, operation status, input and output terminals, and Z pulse
signal,etc.
Protection function Overvoltage, overcurrent, overspeed, and incorrect feedback, etc.
Alarmfunction Alarms (LED flashing; red lamp on) are often given off when the servo
operates abnormally.
Gain adjustment Gain adjustment can be carried out to match motor performance when the
motor operates or stops.
Adaptivemotor SeeTables2.21,2.22 and 2.23.
Chapter II Overv i ew of Funct i ons
7

TypeSelectionof the ServoDriver
MG
-1000 B 30 L
(1) (2) (3) (4) (5)
(1) Series: Dealour’s common types of servo drivers are adaptable to multiple
specifications of servo motors and industries with rich forms of database.
(2) Feedback elements: 1000 2500C/T incremental type and wiring saving type
encoders, S sine and cosine (217bi/218bit(131072/262144)), M multi-loop bus type
(217/216bit(131072/65536)), and B single-loop bus type(220bit(1048576))
(3) Control mode: B position control, C all-function position/speed/torque control,
and T special type PLC function with a touch screen
(4) IPM module specification: 15A and 20A are called 2A for short; 30A, 3A; and
50A, 5A and75A.
(5) Main circuit voltage: L single phase or three phase 220V; H three phase 380V;
default 220V when this voltage is omitted.
TypeCode Applicable Driver ApplicableMotor Powe
r
(kW)
RatedCurrent
(A) RatedToque (Nm)
27
MG-1000/30A
80ST-M01330
0.4
2.6
1.3
28
80ST-M02430
0.75
4.2
2.4
29
80ST-M03330
1.0
4.2
3.3
34
110ST-M02030LBF
0.6
4
2
35
110ST-M04030LBF
1.2
5
4
36
110ST-M05030LBF
1.5
6
5
37
110ST-M06020LBF
1.2
6
6
38
110ST-M06030LBF
1.8
8
6
44
130ST-M04025LBF
1
4
4
45
130ST-M05025LBF
1.3
5
5
46
130ST-M06025LBF
1.5
6
6
47
130ST-M07720LBF
1.6
6
7.7
48
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4
9
7.7
49
130ST-M10015LBF
1.5
6
10
50
130ST-M10025LBF
2.6
10
10
51
130ST-M15015LBF
2.3
9.5
15
52 130ST-M12020LBF 2.4 10 12
Table 2.21 MG-1000/30A
8

TypeCode
ApplicableDriver Applicable Motor Power
(kW)
Rated
Current
(A)
RatedToque
(Nm)
0
MG-1000/50A
130ST-M07720LBF
1.6
6
7.7
1
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4
9
7.7
2
130ST-M10015LBF
1.5
6
10
3
130ST-M10025LBF
2.6
10
10
4
130ST-M15015LBF
2.3
9.5
15
5
130ST-M15025LBF
3.9
17
15
6
150ST-M12030LBF
3.6
16.5
12
7
150ST-M15025LBF
3.8
16.5
15
8
150ST-M18020LBF
3.6
16.5
18
9
150ST-M23020LBF
4.7
20.5
23
10
150ST-M27020LBF
5.5
20.5
27
11
150ST-M12020LBF
2.4
10
12
12
180ST-M17215LBF
2.7
10.5
17
13
180ST-M19015LBF
3
12
19
14
180ST-M21520LBF
4.5
16
21
15
180ST-M27010LBF
2.9
12
27
16
180ST-M27015LBF
4.3
16
27
17
180ST-M35010LBF
3.7
16
35
18
180ST-M35015LBF
5.5
24
35
19 180ST-M48015LBF 7.5 32 48
Table2.22 MG-1000/50A
9

TypeCode
ApplicableDriver
ApplicableMotor
Power
(kW)
Rated
Current
(A)
RatedToque
(Nm)
0
MG-1000/75A
130ST-M07720LBF
1.6
6
7.7
1
130ST-M07725LBF
2.0
7.5
7.7
130ST-M07730LBF
2.4
9
7.7
2
130ST-M10015LBF
1.5
6
10
3
130ST-M10025LBF
2.6
10
10
4
130ST-M15015LBF
2.3
9.5
15
5
130ST-M15025LBF
3.9
17
15
6
150ST-M12030LBF
3.6
16.5
12
7
150ST-M15025LBF
3.8
16.5
15
8
150ST-M18020LBF
3.6
16.5
18
9
150ST-M23020LBF
4.7
20.5
23
10
150ST-M27020LBF
5.5
20.5
27
11
150ST-M12020LBF
2.4
10
12
12
180ST-M17215LBF
2.7
10.5
17
13
180ST-M19015LBF
3
12
19
14
180ST-M21520LBF
4.5
16
21
15
180ST-M27010LBF
2.9
12
27
16
180ST-M27015LBF
4.3
16
27
17
180ST-M35010LBF
3.7
16
35
18
180ST-M35015LBF
5.5
24
35
19
180ST-M48015LBF 7.5 32
48
Table 2.23 MG-1000/75A
10

Notices
● The servo driver is a high voltage e heavy current product. Improper connection may cause
damage to personneland equipment.
● PE terminal must be connected to a ground wire and make sure that the ground wire is reliably
grounded.
●AC 220Vpower supplyis suitable for this product. Do not connect an AC380Vone to the servo
driver.
● The U, V and W of the product should be connected with the motor. They are outputs. Do not
connect themwith input power supply.
● Do not connect the three-phase outputs U, V and W of the product in an incorrect sequence;
because incorrect connection may lead to motor racing, damage to equipment, and overcurrent
burnout to theproduct.
● Tighten all terminals.The materials of all matching wires should be strictly selected according
topower.
●Power distribution and touchingofthe terminals are not allowed when thedriveris electrified.
● Do not touch the terminals within five (5) minutes after power down.
● It is not allowed to touch the motor and cables when the motor is in operation in order to avoid
accidental injuries such as scalding and wrench,etc.
Wiring Requirements
● Athree-phase isolation transformer is preferred for power supply.
● The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than
1.5mm2.
● All power terminals shouldbe cold-pressed ones,firmand reliable.
●CN1 and CN2 are high-densitysignalplugsthat needcables with a shielding layer.
● The wires for connecting PE terminals should be yellow-green ones with a diameter equal to
and more than2.5mm2.
Wiring Methods
●Athree-phase isolation transformer is preferred for power supply.
Chapter III Wiring
11

●The required diameters of R, S, T and U, V, W, PE wires should be equal to and more than
1.5mm2.
● All power terminals shouldbe cold-pressed ones,firmand reliable.
●CN1 and CN2 are high-density signal plugs, with both ends of the shielding layer grounded and
connectedwiththehousing.
●The wires forconnectingPEterminalsshouldbe put through with the equipmenthousing ground
wire and connectedto the earth.
12

Typical Wiring
Position Control (pulse type)
Figure 3.1 Wiring of Position Control
13

Speed Control (analog value)
Servo motor
Circuit breaker
Single ph ase or three phase AC 220V
External connect ion to braking resistors
DC12V-24V
Servo enable
Alarm reset
CCW driver disabled
CW driver disabled
Zero speed clamping/speed selection 1
Speed selec tion 2
Servo ready
Servo alarm
The second reset
Band -type brake tightness
Speed analog command (-10V-+10V)
Feedback to control unit
Signal ground wire encoder
Encoder Z signal used for equipment reset
Servo motor socket
Servo motor encoder socket
Figure 3.1 Wiring of SpeedControl
14

Torque Control (analog value)
Servo motor
(Circuit breaker)
Single phase or three phase AC 220V
External connect ion to braking resistors
DC12V-24V
Servo enable
Alarm reset
CCW driver disabled
CW driver disabled
CCW torque limit
CW torque limit
Servo ready
Servo alarm
Servo motor socket
Band -type brake tightness
Torque analog comman d (-10V-+10V )
Feedback to control unit
Signal ground wire encoder
Encoder Z signal used for equipment reset
Servo motor encoder socket
Figure 3.1 Wiring of Torque Control
15